JP3153688B2 - Tunnel excavation machine position detection system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting system of a tunnel excavating machine for excavating a small-diameter non-excavated tunnel, and more particularly to a real-time highly accurate position detection for a small-diameter tunnel. The present invention relates to a position detection system for a tunnel excavating machine.

[0002]

2. Description of the Related Art There are two types of tunnel excavation work: excavation tunnel excavation work performed by excavating the ground and non-excavation tunnel excavation work performed without excavating the ground.

FIG. 9 shows an example of a conventional excavation tunnel excavation work. The procedure of the excavation tunnel excavation work will be described with reference to this figure. First, the ground G between the right side and the left side of the figure is dug to a specified depth along the tunnel construction route to form a groove 91. A vinyl chloride or polyethylene pipe (not shown) is laid in the groove along the construction route. By filling back the groove 91, the pipe is buried. This buried pipe becomes a small-diameter tunnel.

FIG. 10 shows an example of a conventional uncut tunnel excavation work. The procedure of the uncut tunnel excavation work will be described with reference to FIG. First, a drill 102 is injected into the ground from a tunnel starting point 101. The excavation drill 102 is press-fitted by rotating the excavation drill 102 with the excavation drill press-fitting machine 103 installed at the tunnel starting point 101 to excavate the tunnel. The drilling drill 102 is connected to a drilling drill press-fitting machine 103 via a press-fitting pipe 104 for transmitting rotation.
The drilling drill 102 moves forward by feeding out 04. At this time, tunnel route measurement is performed to check whether the excavation drill 102 is proceeding according to the construction route. The route measurement is performed, for example, by radio wave exploration of the tip of the drilling drill as described later. Tunnel arrival point 10
When the drill 102 reaches 5, the drill 10
2 is connected to a pipe (not shown). Excavation drill 102 is moved from tunnel arrival point 105 to tunnel start point 10
1 and the pipe is guided underground with the drill 102. Excavation drill 102 is tunnel starting point 101
At the time of arrival, a pipe is laid from the tunnel start point to the tunnel arrival point, and a small-diameter tunnel is completed.

[0005] The excavation tunnel excavation work has the following disadvantages because it excavates the ground. That is, a long time and a lot of costs are required for the construction. Environmental destruction of soil and the like occurs. Disturbs the daily life of ordinary people, such as traffic obstacles during construction. On the other hand, uncut tunnel excavation work does not have the above disadvantages. However, since the drill is traveling in the ground, route measurement is indispensable for drilling the ground from the tunnel start point to the tunnel arrival point according to the planned route.

As described above, route measurement is important in uncut tunnel excavation work. Conventional route measurement methods include a post measurement method and a real time measurement method.

In the ex-post measurement method, tunnel excavation is advanced little by little. Each time the vehicle travels, a route measurement sensor described later is passed through the tunnel instead of the excavation drill. The next drilling direction is determined from the route measurement result by the route measurement sensor and the drill is advanced.

In the real-time measuring method, a drilling drill is equipped with a route measuring sensor, which will be described later, and the position of the drilling drill is detected in real time while the drilling is in progress.
Since the digging position of the digging drill can be known in real time, it is possible to constantly control the digging direction of the digging drill to perform tunnel digging.

Some route measurement sensors (route measurement methods) utilize a radio wave oscillator, a gyro compass, a three-axis optical fiber gyro, an inclinometer, a vibration gyro, and the like.

A route measuring method for performing a radio wave exploration method using a radio wave oscillator uses a drilling drill 1 as shown in FIG.
A radio wave oscillator is provided at the tip of 02 and a radio wave R emitted from this oscillator is detected by a radio wave receiver 106 on the ground. Thereby, the position of the excavation drill 102 can be searched.

In the route measuring method using a gyro compass, the digging direction of the drill can be detected by mounting the gyro compass on the drill. If the excavation distance that the excavation drill has excavated has been known, the position of the excavation drill can be determined from the excavation distance and the excavation direction detected by the gyrocompass.

A displacement angle measuring method using a route measuring sensor capable of measuring a displacement angle of an optical gyro, an inclinometer, a vibrating gyroscope, etc., detects an angular displacement of a drilling drill in three dimensions, and calculates a drilling distance and an angular displacement of the drilling drill. Calculates the position coordinates of the drilling drill from the above.

[0013]

The above-described route measurement methods have respective problems.

In the post-measurement method, excavation must be interrupted every time measurement is performed, and frequent measurement is required in order to improve the accuracy of construction, so the interruption is frequent. In addition, this measurement is troublesome, requires a long time and a large amount of manpower, and thus increases the cost. In addition, since the measurement data is not real-time, there is a disadvantage that the direction control of the drilling drill with respect to the planned route cannot be immediately fed back. For this reason, high-precision tunnel excavation work was difficult.

The real-time measurement method does not have the problems of the post-article measurement method, but has the following problems depending on the route measurement sensor (route measurement method).

In the radio wave exploration method, when the tunnel is deepened, the radio wave from the radio wave oscillator detected by the radio wave receiver becomes weak, and the measurement cannot be performed. For this reason, when the tunnel becomes deep, a special power source must be prepared for the radio wave oscillator in order to strengthen the radio wave. It is difficult to easily and stably measure radio waves in any place.

The gyrocompass cannot be used for small-diameter tunnel excavation work because of its large size.

Next, problems of the displacement angle measuring method will be described for each route measuring sensor.

A route measurement sensor using an inclinometer (acceleration sensor) has a drawback that a measurement error increases when tilted to 90 °. Further, if the inclination exceeds 90 °, measurement becomes impossible. Therefore, it is necessary to prevent the route measurement sensor using the inclinometer from rotating in the roll angle direction. Here, the roll angle direction is the rotation direction of the excavation drill. Since the inclinometer is mounted on the drilling drill, it is mechanically difficult to prevent the inclinometer from rotating in the roll angle direction when the drilling drill rotates. Even if the rotation of the inclinometer could be mechanically prevented, the drilling drill and the inclinometer would rotate relative to each other, thus causing a problem of electrical connection. Further, even if the mechanical and electrical problems can be solved, the inclinometer has poor frequency characteristics, causing overshoot and the like, resulting in a large measurement error. For this reason, highly accurate route measurement could not be performed.

A route measurement sensor using a vibrating gyroscope is very easy to use because the vibrating gyroscope is small and inexpensive. However, since the vibrating gyroscope uses piezoelectric ceramic, it has poor temperature characteristics. Also, the accuracy is extremely low as compared with the optical fiber gyro and the inclinometer.
Therefore, high-accuracy route measurement was not possible even with this vibrating gyroscope.

In a route measuring sensor using an optical fiber gyro, the optical fiber gyro has higher accuracy in terms of accuracy than an inclinometer or a vibrating gyroscope, and enables highly accurate route measurement. Also, the error does not increase even if the tilt angle approaches 90 ° as in the above inclinometer. In addition, measurement is possible at 360 °, and the accuracy is uniform at 360 °. Therefore, it is not necessary to prevent rotation for keeping the inclination angle small, unlike a route measurement sensor using an inclinometer. On the other hand, compared with the vibrating gyroscope, the optical fiber gyroscope has a limit in miniaturization.

As described above, according to the prior art, although real-time measurement is desired, the route measurement sensor for that purpose has a problem of measurement accuracy. There was a problem.

Since the above-mentioned excavation drill performs direction control on the ground, it is necessary to communicate the measurement data of the route measurement sensor to the ground in order to perform the direction control in real time. However, in order to perform wired communication using a communication cable, it is necessary to solve the problem of twisting and length change of the communication cable because the drill and the press-fit pipe rotate and the length of the press-fit pipe changes.

In the displacement angle measuring method using the route measuring sensor, it is necessary to accurately detect the digging distance of the digging drill.

It is an object of the present invention to provide a position detection system for a tunnel excavating machine that solves the above-mentioned problems and enables high-precision position detection in real time even in a small-diameter tunnel.

[0026]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a cylindrical body and a shaft of the body.
Blade formed integrally with the tip in the direction
A drill that blows out muddy water
Inject it into the ground from the tip, and drill this drill from the ground
Rotate by transmitting rotation and press input through press-fit pipe
Into a tunnel excavation machine that presses and excavates a tunnel
Fraud and mitigating risk displacement angle measuring sensor consisting of an optical fiber gyroscope of 3 axes blade near the fuselage of the drill is provided, the displacement
Drill the angle measurement sensor via a rotating mechanism such as a bearing
It is held rotatably in the fuselage and the displacement angle measurement sensor
When the drill is rotated, the above displacement angle
As measurement sensor does not rotate, sequentially spliced sequentially connectable to the communication cable in the press-fitting the pipe is to the rear of the drill is inserted and fixed, the displacement angle measuring sensor and the through
Cable and power supply via a slip joint.
A calculation display unit for measuring and displaying the route and position of the drill from the displacement angle data obtained from the displacement angle measurement sensor via the communication cable and the excavation distance obtained from the length of the press-fitted pipe pressed into the ground portion. And the drill direction can be controlled based on the result of the measurement.

[0027]

[0028]

The displacement angle measuring sensor may be constituted by an all-fiber optical fiber gyro mainly composed of an optical fiber or an optical fiber gyro having an optical waveguide element.

[0030]

According to the above construction, the displacement angle measuring sensor composed of the three-axis optical fiber gyro is located near the blade in the body of the drill, so that the change in the angle of the drill can be accurately detected. Further, since the communication cable is inserted into the press-fit pipe sequentially connected to the rear portion of the drill so that the communication cable can be sequentially connected, the press-fit pipe can be added every time the drill advances a predetermined distance, and the communication cable can be added simultaneously. This simplifies the delivery of the communication cable. Through this communication cable, displacement angle data of the displacement angle measurement sensor can be obtained on the ground. Since the excavation distance is obtained from the length of the press-fitted pipe, the excavation distance can be obtained easily and with a small error.

As described above, the direction control of the drill is performed on the ground portion. However, since the operation display section measures and displays the route and position of the drill, the operator can easily control the direction while watching the display.

As described above, the optical fiber gyro has a limit in miniaturization as compared with the vibrating gyro. But,
The present applicant can reduce the size by introducing an optical fiber gyro using an optical waveguide element, and can manufacture an optical fiber gyro of a size that can correspond to a pipe having a diameter of 40 mm, which is called a small diameter. I found that. That is, the displacement angle measurement sensor may be configured by an all-fiber optical fiber gyro mainly composed of an optical fiber,
An optical fiber gyro having an optical waveguide element may be used.

A route measurement sensor using an optical fiber gyro can perform route measurement with higher accuracy than other route measurement sensors that detect a displacement angle, but on the other hand, an optical fiber gyro has too high accuracy. Because of the high resolution, it detects even the rotational angular velocity of the earth. In high-precision route measurement, there is a problem that a large measurement error occurs due to the influence of the rotation angular velocity of the earth.

In general, since the pipeline (tunnel) to be measured is almost straight, there is almost no change in azimuth while the route measurement sensor passes through the pipeline. When the direction of the route measurement sensor changes, the detection of the displacement angle is affected by the rotation angular velocity of the earth. Therefore, if there is almost no change in the direction, the route can be measured without being affected by the rotation angular velocity of the earth.

However, the three-axis optical fiber gyro constituting the route measurement sensor is provided in the body of the drill. Therefore, when the drill rotates, the route measurement sensor also rotates. Here, the optical fiber gyro of each axis detects the displacement of the roll angle, the pitch angle, and the yaw (yaw) angle, respectively. The roll angle corresponds to the direction of rotation of the drill. Regarding the pitch angle and the yaw angle, it is preferable that the pitch angle coincides with the vertical angle from the horizontal plane and the yaw angle coincides with the azimuth. However, when the route measurement sensor is inclined in the roll angle direction, the pitch angle and the yaw angle Each of the optical fiber gyros includes an up-down angle component and an azimuth component. For this reason, when the route measurement sensor rotates in the roll angle direction, the azimuth component changes before and after the roll rotation in the optical fiber gyro in the pitch angle direction and the yaw angle direction, and the rotation of the earth is used to detect the displacement angle The angular velocity will have an effect. For example, if the roll angle is 90 °, the rotation angular velocity of the earth which is received by the optical fiber gyro having the pitch angle and the yaw angle is just switched.

As described above, when the drill rotates during excavation, each optical fiber gyro rotates in the roll angle direction, and the pitch and yaw optical fiber gyros cause a large measurement error because the rotation angular velocity component of the earth fluctuates during measurement. Occurs.

Here, for reference, an error due to the rotation angular velocity of the earth is shown.

In Japan, when the azimuth change is θ °, the following angle error of approximately a ° occurs in the pitch angle in 10 minutes.
(When there is no roll rotation.) Rotational angular velocity = 360 ° / 86400 seconds (1 day) = 0.004 ° / second Angle error a = 0.004 ° / second × sin θ × (10 × 60 seconds) (1) For example, when θ = 5 °, a = 0.2 ° from equation (1).

When the roll rotation angle is φ °, the following b ° angle error occurs in the pitch angle and the yaw angle in 10 minutes. (When there is no change in azimuth.) It is assumed that the rotation angular velocity is maximum in the pitch angle direction in the initial state of roll rotation.

Angle error b = 0.004 ° / sec × sin φ × (10 × 60 seconds) (2) For example, when φ = 5 °, b = 2.4 ° from equation (2).

It is assumed that there is no azimuth change and roll rotation,
Now, it is assumed that the rotation angular velocity is maximum in the pitch angle direction (the direction of detection of the optical fiber gyro in the pitch angle direction is east-west). If the rotation angular velocity detected by the optical fiber gyro in the pitch angle direction does not change, no measurement error of the pitch angle occurs. That is, at the time of initial setting, the initial angular velocity received from the rotation of the earth is detected, and at the time of measurement, this initial angular velocity can be subtracted from the measured rotational angular velocity to obtain the rotational angular velocity in the pitch angle direction of the drill. The error angle of the displacement angle obtained from the rotational angular velocity is zero because there is no change in the rotational angular velocity during the measurement. Similarly, for the yaw angle, the error angle of the displacement angle is zero.

According to the structure of the present invention, the displacement angle measuring sensor is rotatably held in the drill body via a rotating mechanism such as a bearing, and the weight is attached to the displacement angle measuring sensor. When the drill rotates, the displacement angle measurement sensor rotates relative to the drill due to inertia, and maintains the original rotation angle. Since the weight increases the moment of inertia of the displacement angle measurement sensor, the displacement angle measurement sensor becomes more difficult to rotate, and maintains the original rotation angle. The original rotation angle is a rotation angle when the displacement angle measurement sensor and the weight are balanced. The displacement angle measurement sensor is
Due to its own balance without the need for external force, it can always be oriented in the same direction relative to the direction of gravity. Thus, the roll angle in the displacement angle measurement sensor does not change, and the rotation angular velocity does not change, so that the error angle becomes zero.

In this way, the displacement angle measuring sensor rotates relative to the drill and the press-fit pipe. A communication cable is inserted through the press-fitting pipe. The communication cable may include a power cable. When a battery is used as the power source, the power source is built in the drill. The communication cable and the power supply rotate with the rotation of the press-fitting pipe, and rotate relative to the displacement angle measurement sensor. At this time, if the displacement angle measurement sensor, the communication cable, and the power supply are connected via the slip joint, no torsional force is applied to the displacement angle measurement sensor.

[0044]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 2 shows an example of an uncut tunnel excavation work using the position detection system of the present invention. The procedure of this construction is the same as the conventional procedure described with reference to FIG. 10, and the press-fitting machine 103 installed at the tunnel starting point 101 press-fits while rotating the drill 202 of the present invention shown enlarged in a circle,
Excavate the tunnel. The drill 202 is connected to the drilling press-fitting machine 103 via a press-fitting pipe 204 for transmitting rotation and press-fitting, and the drill 202 moves forward by successively adding and feeding out the press-fitting pipe 204.

FIG. 1 is a sectional view of a drill 202 according to the present invention. The drill 202 has a body 18 formed in a cylindrical shape. A blade 10 having a predetermined inclined surface 18a with respect to the axial direction is integrally formed at the tip of the body 18 in the axial direction. This blade 10 is for excavating earth and sand. The body 18 is provided with a conduit 9 for pumping muddy water. The conduit 9 opens at an inclined surface 18a at the tip of the body 18 and forms an outlet 19 for blowing muddy water toward the outside of the tip. are doing. The muddy water blown out from the outlet 19 is used for excavation of earth and sand and used for discharging the excavated earth and sand. This drill 202 is injected into the ground from the tip as described with reference to FIG.
The tunnel is excavated by press-fitting while rotating through the hole 04. Further, the direction can be changed by blowing muddy water from the blow-out port 19 and rotating the drill 202 forward and backward.

To change the direction, first, the rotation and press-fitting of the drill 202 are stopped, and the blowing of muddy water is continued. Further, in accordance with this, the drill 202 is rotated forward and backward by a predetermined angle. The mud hits the earth and softens or is shaved. Since the direction in which the muddy water is blown is inclined with respect to the traveling direction of the drill 202, the earth and sand will be deviated from the front of the drill 202. Thereafter, when the rotation and the press-fitting are resumed, the drill 202 advances in the depressed direction. Thus, the direction of the outlet 19 when the rotation and press-fitting of the drill 202 are stopped determines the next traveling direction. Here, since the drill 202 is connected to the ground via the press-fit pipe 204, by controlling the rotation angle of the press-fit pipe 204 on the ground,
The direction of the outlet 19 can be controlled.

In the body 18 of the drill 202, the body 1
A columnar space coaxial with 8 is provided, and a displacement angle measuring sensor 11 composed of a triaxial optical fiber gyro is provided near the blade 10 in this space. Displacement angle measurement sensor 1
Reference numeral 1 denotes a drill body 1 via a rotating mechanism 14 such as a bearing.
8 rotatably held therein. A weight 15 for preventing rotation is attached to one side of the displacement angle measurement sensor 11. Displacement angle measurement sensor 1 even if drill 202 rotates
1 does not rotate due to its own weight and the inertia of the weight 15. Note that the weight of the displacement angle measurement sensor 11 may be made to function as the weight 15 by shifting the center of gravity of the displacement angle measurement sensor 11 from the rotation axis of the drill 202.

A power supply 12 such as a nickel-cadmium battery for the displacement angle measuring sensor 11 is provided in the space inside the body 18. The displacement angle measurement sensor 11 and the power supply 12 are connected via a pipe 16 formed of a flexible joint such as a coupling joint and a slip ring 17. The pipe 16 and the slip ring 17 are fixed to the displacement angle measurement sensor 11 and are rotatable with respect to the power supply 12. A weight 15 may be attached to the pipe 16. A communication cable 13 and a power cable for sending measurement data from the displacement angle measurement sensor 11 to the ground are inserted through a pipe 16 and connected to a slip ring 17. The slip ring 17 includes the communication cable 13 and the power cable on the displacement angle measurement sensor 11 side and the communication cable 1 on the power source 12 side.
3 and the battery are electrically connected irrespective of the rotation angle. The power supply 12 may be rotatably held in the drill body 18 via a rotation mechanism 14 such as a bearing, similarly to the displacement angle measurement sensor 11, or a weight 15 may be attached to the power supply 12. The communication cable 13 from the power supply 12 to the ground is connected to the rear slip ring 17.
You may draw it from.

FIG. 4 shows a press-fit pipe 204 which is sequentially added to the rear of the drill 202. Press-fit pipe 2
04 is a hollow pipe portion 31 having a predetermined diameter and length.
And a connecting member 32 for mutually connecting with another press-fitting pipe 204. A communication cable 33 of a predetermined length is fixed in the pipe portion 31 by a fixing member 34 provided at an appropriate position. . A male pin connector 35 and a female pin connector 36 are provided at both ends of the communication cable 33, and can be sequentially connected.

FIG. 3 shows a system configuration of the present invention. The system mainly includes a measurement sensor unit 21 including the displacement angle measurement sensor 11 for measuring the displacement angle of the drill 202, a communication cable 22 for transmitting measurement data to the ground, a calculation display unit 23 for calculating and displaying the measurement data, and a tunnel. It comprises a press-fitting machine 24 of an excavating machine and an interface box 25. The measurement data including the displacement angle data of the measurement sensor unit 21 is transmitted to the calculation display unit 23 via the communication cable 22 and the interface box 25. Calculation display section 23
Obtains the digging distance from the length of press-fitting the press-fitting pipe 204 by the press-fitting machine 24, measures the route and position of the drill 202 from the digging distance and the displacement angle data, and displays the result.

FIG. 5 shows an example of an optical fiber gyro of the phase modulation type in the present invention. This optical fiber gyro is provided with a sensing coil 71 formed by looping an optical fiber, and separates light from a light source 72 into two by an optical coupling / distributor (coupler) 73 and separates each light into a sensing coil 71. Of the sensing coil 71
After being transmitted in the opposite directions, they are combined again by an optical coupler / distributor 73, and the light is guided to a light receiver 75 via an optical coupler / distributor (coupler) 74 to be converted into an electric signal. The signal processing circuit 76 controls the sensing coil 71
This sensor detects the angular velocity along the circumferential direction of the sensing coil 71 from the phase difference between two lights transmitted in opposite directions. In addition, 77 is an optical fiber polarizer, and 78 is a phase modulator. Since the optical fiber gyro detects the angular velocity along the circumferential direction of the sensing coil 71, a three-axis optical fiber gyro can be configured by arranging three optical fiber gyros such that the sensing coils 71 are orthogonal to each other. In the displacement angle measurement sensor 11, each axis is arranged so as to be able to detect a displacement of a roll angle, a pitch angle, and a yaw angle, respectively.

The optical fiber gyro can be constituted by an all-fiber type optical fiber gyro mainly composed of optical fibers as shown in the example of FIG. In addition, the optical fiber gyro can be configured as an optical waveguide type optical fiber gyro having an optical waveguide element by configuring a portion surrounded by a broken line as shown in FIG. In the example of FIG. 7, the optical fiber polarizer 77, the optical coupling / distributor 73, and the phase modulator 78 of the portion surrounded by the broken line in FIG. 6 are integrated into one optical waveguide element 81. With this integration, downsizing of the displacement angle measurement sensor 11 is achieved.

Next, the operation of the embodiment will be described.

The press-fitting machine 103 rotates and presses the press-fitting pipe 204 to rotate and press-fit the drill 202. When one press-fitting pipe 204 is pressed, the communication cable 33 is connected to the communication cable 33 of the next press-fitting pipe 204, and the press-fitting pipes 204 are connected to each other by the connecting tool 32. When this connection is completely fixed, press-fitting is started again.

Since the measuring sensor unit 21 has a power source, it operates continuously even when the press-fitting pipe 204 is connected. Therefore, the initial setting (noise removal, initial azimuth setting, etc.) of the measurement sensor unit 21 only needs to be performed once at the start of excavation.

Since the displacement angle measuring sensor is located near the blade in the body of the drill, the change in the angle of the drill can be accurately detected. The displacement angle data of the displacement angle measurement sensor is sent to the ground via a communication cable 13 (22) formed by sequentially connecting the communication cables 33. On the other hand, the excavation distance is obtained from the length of the press-fitted pipe 204. The operation display unit 23 displays the drill 2 based on the displacement angle data and the excavation distance.
Measure and display the route and position of 02. The operator can easily control the direction in the manner described above while watching the display.

A displacement angle measuring sensor 11 is rotatably held in a drill body 18 via a rotating mechanism 14 such as a bearing, and a weight 15 is attached to the displacement angle measuring sensor 11. In the displacement angle measuring sensor, the weight 15 is positioned downward and stabilized mainly because of the gravity balance by the weight 15. When the drill 202 rotates, the displacement angle measurement sensor 11 and the weight 15 rotate relative to the drill 202 due to inertia, and maintain the rotation angle due to the gravity balance. Thus, the roll angle in the displacement angle measurement sensor 11 does not change, and the rotation angular velocity does not change, so that the error angle becomes zero.

Another embodiment of the present invention will be described.

As shown in FIG. 8, a displacement angle measuring sensor 11 composed of a triaxial optical fiber gyro is accommodated in a cylindrical body 18. A rotation mechanism 14 such as a bearing is provided between the displacement angle measurement sensor 11 and the body 18.
A weight 15 for preventing rotation is attached to the displacement angle measurement sensor 11 or the pipe 16. Unlike the example of FIG. 1, the power supply is on the ground. The power supply from the power supply to the displacement angle measurement sensor 11 is performed via the slip ring 17 in the same manner as the connection of the communication cable 13.

[0061]

The present invention exhibits the following excellent effects.

(1) Since the displacement angle and the excavation distance can be accurately detected, highly accurate route measurement can be performed, and the direction control of the drill can be performed according to the construction route.

(2) Even in a small-diameter tunnel, non-excavation tunnel excavation work without defects such as environmental destruction and traffic obstruction can be performed accurately, and the direction of the drill can be controlled in real time. Can be reduced.

[Brief description of the drawings]

FIG. 1 is a sectional view of a drill showing one embodiment of the present invention.

FIGS. 2A and 2B are explanatory diagrams showing an uncut tunnel excavation work using the position detection system of the present invention, wherein FIG. 2A is a side sectional view of the tunnel, and FIG.

FIG. 3 is a block diagram showing a system configuration of the present invention.

FIG. 4 is a side sectional view of the press-fitting pipe of the present invention.

FIG. 5 is a configuration diagram of an optical fiber gyro of a phase modulation system using an all-fiber optical fiber gyro used in the present invention.

FIG. 6 is a configuration diagram of an optical waveguide type optical fiber gyro.

FIG. 7 is a configuration diagram of an optical waveguide type optical fiber gyro.

FIG. 8 is a sectional view of a drill showing another embodiment of the present invention.

FIG. 9 is an explanatory view of a conventional excavation tunnel excavation work,
(A) is an explanatory view showing a side cross section of the tunnel, and (b) is an explanatory view showing a cross section of the tunnel.

10A and 10B are explanatory diagrams showing a conventional uncut tunnel excavation work, in which FIG. 10A is a side sectional view of the tunnel, and FIG. 10B is an explanatory diagram showing a cross section of the tunnel.

[Explanation of symbols]

 Reference Signs List 10 blade 11 displacement angle measurement sensor 13 communication cable 18 fuselage 23 calculation display unit 202 drill 204 press-fit pipe

────────────────────────────────────────────────── ─── Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI G01C 7/06 G01C 7/06 19/72 19/72 P (72) Inventor Koji Okajima 4-chome Hiranocho, Chuo-ku, Osaka-shi, Osaka No. 1-2 Inside Osaka Gas Co., Ltd. (72) Inventor Norihiro Ashizuka 5-1-1 Hidaka-cho, Hitachi City, Ibaraki Prefecture Inside Hidaka Plant, Hitachi, Ltd. (72) Inventor Hiroshi Kajioka Hitachi City, Ibaraki Prefecture 5-1-1, Hidakacho Inside the Hidaka Factory, Hitachi Cable Co., Ltd. (72) Inventor Yasuji Nakamura 3-5-2, Kitahama, Chuo-ku, Osaka City, Osaka Prefecture Inside the Kansai Branch of Hitachi Cable, Ltd. (56) Reference Document JP-A-63-266307 (JP, A) JP-A-4-181118 (JP, A) JP-A-3-257317 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00 101-15/14 E21D 9/06 301 G01C 7/06 G01C 19/72

Claims (2)

(57) [Claims] 1. A drill comprising a cylindrical body, a blade integrally formed at an axial end of the body, and an outlet for blowing out muddy water to the outside of the distal end. In a tunnel excavating machine that injects the drill into the ground from the tip and transmits the rotation and press input from the ground through a press-fitting pipe to rotate and press-fit to excavate the tunnel, the provided displacement angle measuring sensor consisting of an optical fiber gyroscope of 3 axes in the vicinity of, the variable
Driving the angle measurement sensor via a rotating mechanism such as a bearing
To be rotatable in the body of the
With a weight attached to the sensor, even if the drill rotates, the displacement
So that the angular measurement sensor does not rotate, sequentially connectable to a communication cable in sequence spliced are pressed pipe to the rear of the drill is inserted and fixed, the displacement angle measuring sensor and the
Communication cable and power supply via slip joint
Calculation display unit that measures and displays the route and position of the drill from the displacement angle data obtained from this displacement angle measurement sensor via a communication cable and the excavation distance obtained from the length of press-fitting the press-fitting pipe on the ground unit. Wherein the direction of the drill is controlled based on the result of the measurement. 2. An optical fiber comprising:
An all-fiber optical fiber gyro or
Consisting of an optical fiber gyro having an optical waveguide element
The system for detecting the position of a tunnel excavating machine according to claim 1, wherein: